Cleanup: Get rid of global task_array and add static where possible

Author: hdiethelm

src/rtapi/uspace_rtapi_app.cc

@@ -48,6 +48,8 @@ rtapi_task::rtapi_task()
 {
 }
 
+struct rtapi_task *RtapiApp::task_array[MAX_TASKS];
+
 /* Priority functions.  Uspace uses POSIX task priorities. */
 
 int RtapiApp::prio_highest() const {

src/rtapi/uspace_rtapi_app.hh

@@ -66,6 +66,10 @@ struct rtapi_task {
     void (*taskcode)(void *); /* pointer to task function */
 };
 
+#define MAX_TASKS 64
+#define TASK_MAGIC 21979 /* random numbers used as signatures */
+#define TASK_MAGIC_INIT ((rtapi_task *)(-1))
+
 struct RtapiApp {
 
     RtapiApp(int policy = SCHED_OTHER) : policy(policy), period(0) {
@@ -99,6 +103,7 @@ struct RtapiApp {
     virtual void do_delay(long ns) = 0;
     int policy;
     long period;
+    static struct rtapi_task *task_array[MAX_TASKS];
 };
 
 template <class T = rtapi_task> T *rtapi_get_task(int task_id) {
@@ -108,12 +113,6 @@ template <class T = rtapi_task> T *rtapi_get_task(int task_id) {
 int find_rt_cpu_number();
 void set_namef(const char *fmt, ...);
 
-#define MAX_TASKS 64
-#define TASK_MAGIC 21979 /* random numbers used as signatures */
-#define TASK_MAGIC_INIT ((rtapi_task *)(-1))
-
-extern struct rtapi_task *task_array[MAX_TASKS];
-
 extern uid_t euid, ruid; //ToDo: Improve
 
 #define WITH_ROOT WithRoot root

src/rtapi/uspace_rtapi_main.cc

@@ -59,17 +59,17 @@
 #include "hal/hal_priv.h"
 #include "uspace_common.h"
 
-RtapiApp &App();
+static RtapiApp &App();
 
 struct message_t {
     msg_level_t level;
     char msg[1024 - sizeof(level)];
 };
 
-boost::lockfree::queue<message_t, boost::lockfree::capacity<128>> rtapi_msg_queue;
+static boost::lockfree::queue<message_t, boost::lockfree::capacity<128>> rtapi_msg_queue;
 
-pthread_t queue_thread;
-void *queue_function(void * /*arg*/) {
+static pthread_t queue_thread;
+static void *queue_function(void * /*arg*/) {
     set_namef("rtapi_app:mesg");
     // note: can't use anything in this function that requires App() to exist
     // but it's OK to use functions that aren't safe for realtime (that's the
@@ -163,7 +163,7 @@ static int do_one_item(
     return 0;
 }
 
-void remove_quotes(std::string &s) {
+static void remove_quotes(std::string &s) {
     s.erase(remove_copy(s.begin(), s.end(), s.begin(), '"'), s.end());
 }
 
@@ -618,7 +618,7 @@ static void signal_handler(int sig, siginfo_t * /*si*/, void * /*uctx*/) {
     exit(1);
 }
 
-const size_t PRE_ALLOC_SIZE = 1024 * 1024 * 32;
+const static size_t PRE_ALLOC_SIZE = 1024 * 1024 * 32;
 const static struct rlimit unlimited = {RLIM_INFINITY, RLIM_INFINITY};
 static void configure_memory() {
     int res = setrlimit(RLIMIT_MEMLOCK, &unlimited);
@@ -794,9 +794,6 @@ RtapiApp &App() {
     return *app;
 }
 
-/* data for all tasks */
-struct rtapi_task *task_array[MAX_TASKS];
-
 int rtapi_prio_highest(void) {
     return App().prio_highest();
 }